######################################### CONSTANTS########################################
# AGV STATUS 
# status1
uint8 AGV_STANDBY = 1
uint8 AGV_TASK_START = 2
uint8 AGV_TASK_EXECUTE = 3
uint8 AGV_TASK_FINISH = 4
uint8 AGV_TASK_FAILD = 5
uint8 AGV_TASK_CANCEL = 254
# stauts2
uint8 AGV_MOVE_FORWARD = 1
uint8 AGV_MOVE_REVERSE = 2
uint8 AGV_MOVE_LEFT = 3
uint8 AGV_MOVE_RIGHT = 4
uint8 AGV_MOVE_PAUSE = 5 
uint8 AGV_MOVE_OBSTACLESTOP = 6
uint8 AGV_MOVE_MASTERSTOP = 8
uint8 AGV_OPDEVICE_UP = 200
uint8 AGV_OPDEVICE_DOWN = 201
uint8 AGV_OPDEVICE_CLOCKWISE_ROTATION = 202
uint8 AGV_OPDEVICE_ANTICLOCKWISE_ROTAION = 203
# AGV TASK MODE
uint8 AGV_TASK_MODE_MOVE = 0     
uint8 AGV_TASK_MODE_OPERATOR = 1
uint8 AGV_TASK_MODE_CHARGE = 2
# AGV ERROR CODE
uint8 AGV_ERROR_NONE = 0
uint8 AGV_ERROR_DERAIL = 1
uint8 AGV_ERROR_LOCATION = 2
uint8 AGV_ERROR_OPDEVICE = 3
uint8 AGV_ERROR_CHARGE = 4
uint8 AGV_ERROR_PATH = 5
uint8 AGV_ERROR_LOADPATH = 100
########################################
# Messages！！！
########################################
std_msgs/Header header
# AGV STATUS
uint8 status1
uint8 status2
# AGV MODE
uint8 mode
# AGV ERROR CODE
uint8 errorcode
# AGV TASK MSG
uint32 taskid
uint32 seq
uint16 onwaypoint
uint32 onsegment
uint32 opcode
